Backported changes from isaac_ros_jetson to work wih jetson_stats 4.2.12

Dockerfile

@@ -0,0 +1,18 @@
+FROM ros:noetic-ros-core-focal
+
+# install pip3
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    python3 \
+    python3-pip \
+    ros-noetic-diagnostic-aggregator \
+    build-essential \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
+
+#upgrade pip
+RUN python3 -m pip install --upgrade pip
+#install jetson-stats
+RUN python3 -m pip install -U jetson-stats
+
+#source ros env
+RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc

param/jtop.yaml

@@ -13,24 +13,34 @@ analyzers:
         type: diagnostic_aggregator/GenericAnalyzer
         path: GPU
         contains: 'gpu'
-        remove_prefix: jetson_stats
+        remove_prefix: jetson_stats gpu
       memory:
         type: diagnostic_aggregator/GenericAnalyzer
         path: Memory
         contains: 'mem'
         remove_prefix: jetson_stats mem
+      engine:
+        type: diagnostic_aggregator/GenericAnalyzer
+        path: Engine
+        contains: 'engine' 
+        remove_prefix: jetson_stats engine
       temperatures:
         type: diagnostic_aggregator/GenericAnalyzer
         path: Temperatures
         contains: 'temp'
-        remove_prefix: jetson_stats
+        remove_prefix: jetson_stats temp
       power:
         type: diagnostic_aggregator/GenericAnalyzer
         path: Power
         contains: 'power'
-        remove_prefix: jetson_stats
+        remove_prefix: jetson_stats power
       board:
         type: diagnostic_aggregator/GenericAnalyzer
         path: board
         contains: 'board'
-        remove_prefix: jetson_stats board
+        remove_prefix: jetson_stats board
+      fan:
+        type: diagnostic_aggregator/GenericAnalyzer
+        path: Board
+        contains: 'fan' 
+        remove_prefix: jetson_stats fan

scripts/jetson_stats.py

@@ -39,6 +39,7 @@
     other_status,
     board_status,
     disk_status,
+    engine_status,
     cpu_status,
     fan_status,
     gpu_status,
@@ -87,18 +88,18 @@ def stop(self):
         self.jetson.close()
 
     def fan_service(self, req):
-        # Try to set new nvpmodel
-        fan_mode = req.mode
+        # Update fan_service to use fan.profile instead of fan.mode
+        fan_profile = req.mode
         fan_speed = req.fanSpeed
         try:
-            self.jetson.fan.mode = fan_mode
-            if fan_mode == "manual":
+            self.jetson.fan.profile = fan_profile
+            if fan_profile == "manual":
                 self.jetson.fan.speed = fan_speed
         except jtop.JtopException as e:
             rospy.logerr(e)
-            # Return same nvp model
-            fan_mode = str(self.jetson.fan.mode)
-        return fanResponse(fan_mode)
+            # Return current fan profile
+            fan_profile = str(self.jetson.fan.profile)
+        return fanResponse(fan_profile)
 
     def jetson_clocks_service(self, req):
         # Set new jetson_clocks
@@ -122,21 +123,35 @@ def jetson_callback(self, jetson):
         # Status board and board info
         self.arr.status = [other_status(self.hardware, jetson, jtop.__version__)]
         # Make diagnostic message for each cpu
-        self.arr.status += [cpu_status(self.hardware, name, jetson.cpu[name]) for name in jetson.cpu]
+        self.arr.status += [cpu_status(self.hardware, name, cpu)
+                            for name, cpu in enumerate(jetson.cpu['cpu'])]
         # Merge all other diagnostics
-        self.arr.status += [gpu_status(self.hardware, jetson.gpu[1])]
-        self.arr.status += [ram_status(self.hardware, jetson.ram, 'mem')]
-        self.arr.status += [swap_status(self.hardware, jetson.swap, 'mem')]
-        self.arr.status += [emc_status(self.hardware, jetson.emc, 'mem')]
-        # Temperature
-        self.arr.status += [temp_status(self.hardware, jetson.temperature, self.level_options)]
-        # Read power
-        total, power = jetson.power
-        if power:
-            self.arr.status += [power_status(self.hardware, total, power)]
-        # Fan controller
+        self.arr.status += [gpu_status(self.hardware, name, jetson.gpu[name])
+                            for name in self.jetson.gpu]
+        # Make diagnostic message for each engine
+        self.arr.status += [engine_status(self.hardware, name, engine)
+                            for name, engine in jetson.engine.items()]
+        # Update access to jetson.memory
+        self.arr.status += [ram_status(self.hardware, jetson.memory['RAM'], 'mem')]
+        self.arr.status += [swap_status(self.hardware, jetson.memory['SWAP'], 'mem')]
+        if 'EMC' in jetson.memory:
+            self.arr.status += [emc_status(self.hardware, jetson.memory['EMC'], 'mem')]
+        # Make diagnostic message for each Temperature
+        self.arr.status += [temp_status(self.hardware, name, sensor)
+                            for name, sensor in jetson.temperature.items()]
+        # Make diagnostic message for each power rail
+        self.arr.status += [power_status(self.hardware, name, rail)
+                            for name, rail in self.jetson.power['rail'].items()]
+        if 'name' in self.jetson.power['tot']:
+            name_total = self.jetson.power['tot']['name']
+        else:
+            name_total = 'ALL'
+        self.arr.status += [power_status(self.hardware,
+                                         name_total, jetson.power['tot'])]
+        # Update fan_status usage
         if jetson.fan:
-            self.arr.status += [fan_status(self.hardware, jetson.fan, 'board')]
+            self.arr.status += [fan_status(self.hardware, name, fan)
+                                for name, fan in jetson.fan.items()]
         # Status board and board info
         self.arr.status += [self.board_status]
         # Add disk status